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  1. # Generated by stepconf 1.1 at Thu Mar 9 15:58:48 2023
  2. # If you make changes to this file, they will be
  3. # overwritten when you run stepconf again
  4. loadrt or2 count=1
  5. loadrt [KINS]KINEMATICS
  6. loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
  7. loadrt hal_parport cfg="0xec00 out"
  8. setp parport.0.reset-time 5000
  9. loadrt stepgen step_type=0,0,0,0
  10.  
  11. addf parport.0.read base-thread
  12. addf stepgen.make-pulses base-thread
  13. addf parport.0.write base-thread
  14. addf parport.0.reset base-thread
  15.  
  16. addf stepgen.capture-position servo-thread
  17. addf motion-command-handler servo-thread
  18. addf motion-controller servo-thread
  19. addf stepgen.update-freq servo-thread
  20. net spindle-cmd-rpm <= spindle.0.speed-out
  21. net spindle-cmd-rpm-abs <= spindle.0.speed-out-abs
  22. net spindle-cmd-rps <= spindle.0.speed-out-rps
  23. net spindle-cmd-rps-abs <= spindle.0.speed-out-rps-abs
  24. net spindle-at-speed => spindle.0.at-speed
  25.  
  26. setp parport.0.pin-04-out-invert 1
  27. net ydir => parport.0.pin-04-out
  28. net ystep => parport.0.pin-05-out
  29. setp parport.0.pin-05-out-reset 1
  30. setp parport.0.pin-06-out-invert 1
  31. net zdir => parport.0.pin-06-out
  32. net zstep => parport.0.pin-07-out
  33. setp parport.0.pin-07-out-reset 1
  34. net adir => parport.0.pin-08-out
  35. setp parport.0.pin-09-out-invert 1
  36. net astep => parport.0.pin-09-out
  37. setp parport.0.pin-09-out-reset 1
  38. net xdir => parport.0.pin-16-out
  39. net xstep => parport.0.pin-17-out
  40. setp parport.0.pin-17-out-reset 1
  41. net all-home <= parport.0.pin-10-in
  42. net estop-ext <= parport.0.pin-12-in
  43.  
  44. # link parallel port pins to the 'or2' component
  45. net probe-in-11 parport.0.pin-11-in-not => or2.0.in0
  46. net probe-in-15 parport.0.pin-15-in => or2.0.in1
  47.  
  48. # output of the 'or2' component to the 'probe-input' pin of the motion controller
  49. net probe-or-out or2.0.out => motion.probe-input
  50.  
  51.  
  52. setp stepgen.0.position-scale [JOINT_0]SCALE
  53. setp stepgen.0.steplen 1
  54. setp stepgen.0.stepspace 0
  55. setp stepgen.0.dirhold 31000
  56. setp stepgen.0.dirsetup 31000
  57. setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
  58. net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
  59. net xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
  60. net xstep <= stepgen.0.step
  61. net xdir <= stepgen.0.dir
  62. net xenable joint.0.amp-enable-out => stepgen.0.enable
  63. net all-home => joint.0.home-sw-in
  64.  
  65. setp stepgen.1.position-scale [JOINT_1]SCALE
  66. setp stepgen.1.steplen 1
  67. setp stepgen.1.stepspace 0
  68. setp stepgen.1.dirhold 31000
  69. setp stepgen.1.dirsetup 31000
  70. setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
  71. net ypos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
  72. net ypos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
  73. net ystep <= stepgen.1.step
  74. net ydir <= stepgen.1.dir
  75. net yenable joint.1.amp-enable-out => stepgen.1.enable
  76. net all-home => joint.1.home-sw-in
  77.  
  78. setp stepgen.2.position-scale [JOINT_2]SCALE
  79. setp stepgen.2.steplen 1
  80. setp stepgen.2.stepspace 0
  81. setp stepgen.2.dirhold 31000
  82. setp stepgen.2.dirsetup 31000
  83. setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
  84. net zpos-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd
  85. net zpos-fb stepgen.2.position-fb => joint.2.motor-pos-fb
  86. net zstep <= stepgen.2.step
  87. net zdir <= stepgen.2.dir
  88. net zenable joint.2.amp-enable-out => stepgen.2.enable
  89. net all-home => joint.2.home-sw-in
  90.  
  91. setp stepgen.3.position-scale [JOINT_3]SCALE
  92. setp stepgen.3.steplen 1
  93. setp stepgen.3.stepspace 0
  94. setp stepgen.3.dirhold 31000
  95. setp stepgen.3.dirsetup 31000
  96. setp stepgen.3.maxaccel [JOINT_3]STEPGEN_MAXACCEL
  97. net apos-cmd joint.3.motor-pos-cmd => stepgen.3.position-cmd
  98. net apos-fb stepgen.3.position-fb => joint.3.motor-pos-fb
  99. net astep <= stepgen.3.step
  100. net adir <= stepgen.3.dir
  101. net aenable joint.3.amp-enable-out => stepgen.3.enable
  102. net all-home => joint.3.home-sw-in
  103.  
  104. net estop-out <= iocontrol.0.user-enable-out
  105. net estop-ext => iocontrol.0.emc-enable-in
  106.  
  107. loadusr -W hal_manualtoolchange
  108. net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
  109. net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  110. net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  111. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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